CN115395711A - Driving and controlling integrated linear rotary motion mechanism - Google Patents

Abstract

The invention provides a driving and controlling integrated linear rotary motion mechanism, and relates to the technical field of mechanism design. The driving and controlling integrated linear rotary motion mechanism comprises a box body, and a guide rail, a linear motor, a rotary motor, an encoder and a driver which are arranged in the box body; the linear motor comprises a stator structure and a rotor structure, the stator structure and the guide rail are fixed in the box body, and the rotor structure is arranged on the guide rail in a sliding manner; the rotating motor is fixed on the rotor structure, a rotating shaft of the rotating motor can extend out of the box body, and the linear motor and the rotating motor are respectively connected with the driver. The guide rail, the linear motor, the rotating motor, the encoder and the driver are integrated in the box body and are installed and debugged in the box body. When the driving and controlling integrated linear rotary motion mechanism is applied to an automatic production line, the linear motor, the encoder, the driver and the rotary motor do not need to be installed and debugged on site, so that the installation efficiency of the automatic production line can be improved.

Description

Driving and controlling integrated linear rotary motion mechanism

Technical Field

The invention relates to the technical field of mechanism design, in particular to a driving and controlling integrated linear and rotary motion mechanism.

Background

With the development of science and technology, industrial automation equipment is rapidly moving into various large enterprises, especially semiconductor, electronic equipment processing, biopharmaceutical and other technical fields or labor-intensive enterprises, and the automation degree is higher and higher. An automatic production line of an enterprise often needs a moving device to execute various actions, so that the manpower resource is saved, and the production efficiency is improved. The existing motion mechanisms generally only can perform single linear or rotary motion, and are not convenient enough to use, so further improvement is needed.

In the related art, the movement mechanism includes a linear motor, a rotary motor, an encoder, and a driver, the rotary motor needs to be installed on the linear motor, and the linear motor and the rotary motor realize linear movement and rotary movement.

However, when the motion mechanism is applied to an automation production line, a driver corresponding to the linear motor, the encoder and the linear motor needs to be installed on site, a driver corresponding to the rotating motor needs to be installed on site, the linear motor and the rotating motor need to be debugged, and the problem of low installation efficiency of the automation production line exists.

Disclosure of Invention

The invention provides a driving and controlling integrated linear rotating motion mechanism, which aims to solve the problem that the installation efficiency of an automatic production line is lower when a motion mechanism in the related technology is applied to the automatic production line.

The invention provides a driving and controlling integrated linear rotary motion mechanism, which comprises a box body, and a guide rail, a linear motor, a rotary motor, an encoder and a driver which are arranged in the box body, wherein the guide rail, the linear motor, the rotary motor, the encoder and the driver are arranged in the box body;

the linear motor comprises a stator structure and a rotor structure, the stator structure and the guide rail are fixed in the box body, and the rotor structure is arranged on the guide rail in a sliding manner;

the rotary motor is fixed on the rotor structure, a rotary shaft of the rotary motor can extend out of the box body, and the linear motor and the rotary motor are respectively connected with the driver;

the driver is used for controlling the rotor structure to move through the encoder so as to enable the rotating motor to move linearly; the driver is also used for controlling the rotation of the rotating shaft of the rotating motor so as to enable the rotating shaft of the rotating motor to rotate.

Optionally, a shaft sleeve is disposed on the rotating shaft of the rotating electrical machine, and the shaft sleeve is wrapped outside the rotating shaft.

Optionally, the air-conditioning unit further comprises an air pipe, wherein the rotating shaft of the rotating motor is a hollow shaft, one end of the rotating shaft of the rotating motor is an air inlet end, the other end of the rotating shaft of the rotating motor is an air outlet end, an air exhaust joint is arranged on the box body, one end of the air pipe can be connected with the air outlet end, and the other end of the air pipe can be connected with the air exhaust joint.

Optionally, be provided with the venthole on the lateral wall of rotation axis, be provided with the air vent on the casing of rotating electrical machines, the air vent with the venthole intercommunication, tracheal one end can with the air vent is connected, tracheal other end can with the articulate of bleeding.

Optionally, two sealing bearings are arranged between the shaft sleeve and the rotating shaft of the rotating electrical machine, the two sealing bearings are located at two ends of the shaft sleeve, the shaft sleeve is fixedly connected with the housing of the rotating electrical machine, and the two sealing bearings are used for sealing between the shaft sleeve and the rotating shaft of the rotating electrical machine.

Optionally, the encoder includes grating chi and reading head, grating chi is fixed on rotating electrical machines's the casing, grating chi along the moving direction of active cell structure extends, be provided with on the box and detect the mouth, reading head sets up detection mouth department, reading head with grating chi sets up relatively.

Optionally, the trachea is a helical trachea.

Optionally, the electronic device further comprises a spring, the spring is arranged in the box body, one end of the spring is fixedly connected with the box body, the other end of the spring is fixedly connected with the mover structure, and the spring is used for preventing the mover structure from colliding with the box body.

Optionally, the spring is a magnetic spring.

Optionally, the linear motor further comprises a flexible lead and a circuit board, the circuit board is arranged on the mover structure, electrical lines of the linear motor and the rotary motor are respectively connected to the circuit board, and the flexible lead is respectively connected to the circuit board and the driver;

the driver comprises an electrical interface connected with an external power supply and a communication interface connected with external communication.

The invention provides a driving and controlling integrated linear rotary motion mechanism, which integrates a guide rail, a linear motor, a rotary motor, an encoder and a driver into a box body, and is installed and debugged in the box body. When the driving and controlling integrated linear rotary motion mechanism is applied to an automatic production line, the linear motor, the encoder, the driver and the rotary motor do not need to be installed and debugged on site, so that the installation efficiency of the automatic production line can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings based on the drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a driving and controlling integrated linear-rotary motion mechanism according to an embodiment of the present invention;

FIG. 2 is a first schematic diagram of the interior of the driving and controlling integrated linear-rotary motion mechanism in FIG. 1;

FIG. 3 is a second internal schematic view of the driving and controlling integrated linear-rotary motion mechanism in FIG. 1;

FIG. 4 is an enlarged schematic view at A in FIG. 3;

FIG. 5 is a partial schematic view of the drive and control integrated linear rotary motion mechanism of FIG. 2;

fig. 6 is a schematic structural diagram of a reading head and a fixing member according to an embodiment of the present invention.

Description of reference numerals:

10-a box body; 101-a through hole;

102-suction connection; 103-a detection port;

11-a guide rail; 12-a linear motor;

121-stator structure; 122-a mover structure;

13-a rotating electrical machine; 131-a rotation axis;

1311-an air intake end; 1312-gas outlet end;

132-a shaft sleeve; 133-a vent;

134-a sealed bearing; 14-an encoder;

141-grating ruler; 142-a read head;

15-a driver; 16-the trachea;

151-electrical interface; 152-a communication interface;

17-a fixing member; 171-a holder;

172-a fixation rod; 18-a spring;

19-a flexible wire; 20-a circuit board.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description above, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In the related art, the movement mechanism includes a linear motor, a rotary motor, an encoder, and a driver, and the rotary motor needs to be installed on the linear motor, and linear movement and rotary movement are realized by the linear motor and the rotary motor. However, when the motion mechanism is applied to an automation production line, a driver corresponding to the linear motor, the encoder and the linear motor needs to be installed on site, a driver corresponding to the rotating motor needs to be installed on site, the linear motor and the rotating motor need to be debugged, and the problem of low installation efficiency of the automation production line exists. In addition, when the linear motor and the rotating motor are installed on site, the installation space is large, and the installation of the motion mechanism is not compact.

In order to solve the problems, the invention provides a driving and controlling integrated linear rotary motion mechanism, which integrates a guide rail, a linear motor, a rotary motor, an encoder and a driver into a box body, and is installed and debugged in the box body. When the driving and controlling integrated linear rotary motion mechanism is applied to an automatic production line, the linear motor, the encoder, the driver and the rotary motor do not need to be installed and debugged on site, so that the installation efficiency of the automatic production line can be improved. In addition, the linear motor and the rotating motor are installed in the box body, the space is small, and the driving and controlling integrated linear rotating motion mechanism can be compactly installed.

The driving and controlling integrated linear and rotary motion mechanism provided by the embodiment of the invention is described in detail with reference to specific embodiments.

Fig. 1 is a schematic structural diagram of a driving and controlling integrated linear-rotary motion mechanism according to an embodiment of the present invention; FIG. 2 is a first internal schematic view of the driving and controlling integrated linear-rotary motion mechanism in FIG. 1; FIG. 3 is a second internal schematic view of the driving and controlling integrated linear-rotary motion mechanism of FIG. 1; FIG. 4 is an enlarged schematic view at A in FIG. 3; FIG. 5 is a partial schematic view of the drive and control integrated linear rotary motion mechanism of FIG. 2; fig. 6 is a schematic structural diagram of a reading head and a fixing member according to an embodiment of the present invention.

As shown in fig. 1 to 5, an embodiment of the present invention provides a driving and controlling integrated linear-rotary motion mechanism, which includes a box 10, and a guide rail 11, a linear motor 12, a rotary motor 13, an encoder 14, and a driver 15, which are disposed in the box 10.

The linear motor 12 comprises a stator structure 121 and a mover structure 122, the stator structure 121 and the guide rail 11 are fixed in the box body 10, and the mover structure 122 is slidably arranged on the guide rail 11; the rotary motor 13 is fixed on the mover structure 122, the rotary shaft 131 of the rotary motor 13 can extend out of the case 10, and the linear motor 12 and the rotary motor 13 are respectively connected to the driver 15.

The case 10 has a hollow structure. The shape of the case 10 may be square. In other embodiments, the shape of the casing 10 may be other shapes, and is not specifically provided here.

The box 10 is provided with a detachable cover plate. When the cover on the housing 10 is removed, the cavity of the housing 10 may be exposed.

The guide rail 11 is a linear guide rail, and the guide rail 11 is fixed in the box body 10. A sliding seat is arranged on the guide rail 11, and the mover structure 122 is fixedly connected with the sliding seat.

The number of the stator structures 121 may be one or more. When there are a plurality of stator structures 121, the plurality of stator structures 121 may be connected in series by abutting end faces.

A working gap is provided between the stator structure 121 and the mover structure 122. When the stator structure 121 is powered on, an electromagnetic thrust is generated between the stator structure 121 and the mover structure 122, and since the stator structure 121 is fixed in the case 10, the mover structure 122 can move linearly along the guide rail 11.

The rotary motor 13 is fixed on the mover structure 122, the driver 15 is fixed in the case 10, and the driver 15 is provided with an electrical interface 151 connected to an external power supply and a communication interface 152 connected to an external communication.

The case 10 is provided with a through hole 101 through which a rotary shaft 131 of the rotary motor 13 protrudes. The extending direction of the rotation shaft 131 may be the same as or different from the moving direction of the mover structure 122. In this example, the extending direction of the rotation shaft 131 may be the same as the moving direction of the mover structure 122.

The linear motor 12 and the rotary motor 13 share one driver 15. The driver 15 controls the mover structure 122 to move through the encoder 14 so as to linearly move the rotary motor 13. Specifically, the stator structure 121 is energized by the driver 15, and the movement of the mover structure 122 is controlled by the encoder 14, and since the rotary motor 13 is fixed to the mover structure 122, the rotary motor 13 can linearly move along with the mover structure 122, so that the rotary shaft 131 of the rotary motor 13 can linearly move.

In an alternative embodiment, the stator structure 121 is powered by the driver 15, and the motion of the mover structure 122 is controlled by the encoder 14, so that the mover structure 122 drives the rotary motor 13 to move close to the through hole 101 along the guide rail 11, and the rotary shaft 131 of the rotary motor 13 can extend out of the box 10.

The driver 15 is also configured to control rotation of the rotating shaft 131 of the rotating motor 13 to rotationally move the rotating shaft 131 of the rotating motor 13. Specifically, the rotary motor 13 is energized by the driver 15, and the rotation of the rotary shaft 131 of the rotary motor 13 is controlled, so that the rotary shaft 131 of the rotary motor 13 can be rotationally moved.

It should be noted that the driver 15 can control the linear motor 12 and the rotary motor 13 simultaneously, so that the mover structure 122 of the linear motor 12 drives the rotary motor 13 to make linear movement, and at the same time, the rotary shaft 131 of the rotary motor 13 makes rotary movement; the driver 15 may also control the linear motor 12 first, so that the mover structure 122 of the linear motor 12 drives the rotary motor 13 to move linearly, and then control the rotary motor 13, so that the rotary shaft 131 of the rotary motor 13 moves rotationally; the driver 15 may also control the rotary motor 13 to rotate the rotary shaft 131 of the rotary motor 13, and then control the linear motor 12 to move the rotor structure 122 of the linear motor 12 to drive the rotary motor 13 to move linearly.

The guide rail 11, the linear motor 12, the rotary motor 13, the encoder 14 and the driver 15 are integrated into the casing 10, and are installed and debugged in the casing 10. When the driving and controlling integrated linear rotary motion mechanism is applied to an automatic production line, the linear motor 12, the encoder 14, the driver 15 and the rotary motor 13 do not need to be installed and debugged on site, so that the installation efficiency of the automatic production line can be improved. In addition, the linear motor 12 and the rotating motor 13 are installed in the box body 10, the space is small, and the driving and controlling integrated linear rotating motion mechanism can be compactly installed.

Alternatively, as shown in fig. 2, a shaft sleeve 132 is provided on the rotating shaft 131 of the rotating electrical machine 13.

The material of the shaft sleeve 132 may be metal or plastic, and is not specifically configured here.

The shaft sleeve 132 is wrapped around the outside of the rotating shaft 131. The shaft sleeve 132 may entirely cover the outer side of the rotating shaft 131, or may partially cover the outer side of the rotating shaft 131.

After the shaft sleeve 132 is wrapped on the outer side of the rotating shaft 131, the maximum outer diameter of the whole of the rotating shaft 131 and the shaft sleeve 132 is larger than the outer diameter of the rotating shaft 131, so that the mechanical strength of the whole of the rotating shaft 131 and the shaft sleeve 132 is larger than that of the rotating shaft 131, and the radial run-out of the rotating shaft 131 can be reduced.

Optionally, as shown in fig. 2, the driving and controlling integrated linear rotation motion mechanism further includes an air pipe 16, the rotation shaft 131 of the rotation motor 13 is a hollow shaft, one end of the rotation shaft 131 of the rotation motor 13 is an air inlet 1311, the other end of the rotation shaft 131 of the rotation motor 13 is an air outlet 1312, the box 10 is provided with an air suction joint 102, one end of the air pipe 16 may be connected to the air outlet 1312, and the other end of the air pipe 16 may be connected to the air suction joint 102.

The air tube 16 may be a spiral air tube or a linear air tube. In some examples, the air tube 16 is a spiral air tube, the spiral air tube can be elongated or compressed during the linear movement of the rotating motor 13, the occupied space of the air tube 16 in the box body 10 can be reduced, and the spiral air tube is not easy to break off during the elongation or compression process, so that the ventilation effect is good.

The suction connection 102 can be connected to a suction device. The air extraction device may be a sorption pump. When the air suction connector 102 is connected to the air suction device, the air suction device sucks air from the air tube 16 through the air suction connector 102, and the air tube 16 sucks air from the rotating shaft 131, so that the rotating shaft 131 has an adsorption function.

The location of the suction connection 102 on the enclosure 10 is not specifically configured. In some examples, the suction joint 102 and the through hole 101 are oppositely disposed in a moving direction of the mover structure 122.

The rotation shaft 131 may have an adsorption function during rotation, may have an adsorption function during linear movement, or may have an adsorption function during simultaneous rotation and linear movement.

In an alternative embodiment, the stator structure 121 is powered by the driver 15, and the encoder 14 controls the movement of the mover structure 122, so that the mover structure 122 drives the rotary motor 13 to move along the guide rail 11 and close to the through hole 101, so as to extend the rotary shaft 131 of the rotary motor 13 out of the box 10, and then the air suction device sucks air from the air tube 16 through the air suction connector 102, and the air tube 16 sucks air from the rotary shaft 131.

Further, as shown in fig. 3 and 4, an air outlet (not shown) is provided on a side wall of the rotating shaft 131, a vent 133 is provided on a housing of the rotating motor 13, the vent 133 is communicated with the air outlet, one end of the air pipe 16 can be connected to the vent 133, and the other end of the air pipe 16 can be connected to the air suction connector 102.

Specifically, when the air outlet end 1312 of the rotary shaft 131 of the rotary electric machine 13 is closed, one end of the air tube 16 is connected to the air vent 133, and the other end of the air tube 16 is connected to the air suction joint 102. The air suction device sucks air from the air tube 16 through the air suction connector 102, and the air tube 16 sucks air from the rotary shaft 131 through the vent hole 133 and the air outlet hole, so that the rotary shaft 131 can have an adsorption function.

When one end of the air tube 16 is connected to the air outlet 1312 and the other end of the air tube 16 is connected to the air suction joint 102, the air vent 133 needs to be closed to allow the rotary shaft 131 to have the suction function.

Alternatively, as shown in fig. 3 and 4, two sealing bearings 134 are disposed between the shaft sleeve 132 and the rotating shaft 131 of the rotating electrical machine 13, the two sealing bearings 134 are located at both ends of the shaft sleeve 132, the shaft sleeve 132 is fixedly connected to the housing of the rotating electrical machine 13, and the two sealing bearings 134 are used for sealing between the shaft sleeve 132 and the rotating shaft 131 of the rotating electrical machine 13.

The shaft sleeve 132 is connected to the housing of the rotating electrical machine 13 in a seamless and fixed manner. With this arrangement, the sealing performance between the shaft sleeve 132 and the housing of the rotating electric machine 13 can be improved.

By sealing between the shaft sleeve 132 and the rotating shaft 131 of the rotating electrical machine 13 by the two seal bearings 134, the sealing between the shaft sleeve 132 and the rotating shaft 131 of the rotating electrical machine 13 can be improved, so that the air passage tightness of the driving and controlling integrated linear rotating motion mechanism can be improved, and the radial runout of the rotating shaft 131 can be reduced.

Alternatively, as shown in fig. 1 and 5, the encoder 14 includes a grating scale 141 and a reading head 142, the grating scale 141 is fixed on the housing of the rotary motor 13, the grating scale 141 extends along the moving direction of the mover structure 122, the box 10 is provided with a detection port 103, the reading head 142 is arranged at the detection port 103, and the reading head 142 is arranged opposite to the grating scale 141. So configured, the encoder 14 may be easily installed and debugged, and may also be easily maintained.

Wherein, the included angle between the light source emission point mirror surface of the reading head 142 and the plane of the grating ruler 141 is 0-20 degrees. Preferably, the angle between the light source emission point mirror surface of the reading head 142 and the plane of the grating scale 141 is 0 degree, and at this time, the light source emission point mirror surface of the reading head 142 and the plane of the grating scale 141 are arranged in parallel.

The distance between the light source emission point mirror surface of the reading head 142 and the plane of the grating ruler 141 is required to be 2.5 mm, and the error is controlled within 80 microns, so that the position of the rotary motor 13 in the linear movement process can be acquired through the encoder 14, and the movement of the rotor structure 122 can be accurately controlled through the driver 15.

Further, as shown in fig. 5, the reading head 142 is disposed on the fixing member 17, and the reading head 142 is connected to the driver 15 through a wire, which is located in the fixing member 17.

As shown in fig. 6, the fixing member 17 includes a fixing seat 171 and a fixing rod 172, and the fixing seat 171 is fixedly connected to the fixing rod 172. The fixed seat 171 is positioned at the detection port 103, and the reading head 142 is arranged on the fixed seat 171; the fixing rod 172 is partially located outside the case 10, the fixing rod 172 is partially located inside the case 10, and a wire connected to the reading head 142 is located inside the fixing rod 172.

The reading head 142 is detachable from the holder 171. When the encoder 14 is replaced, the casing 10 is opened to expose the cavity of the casing 10, the grating scale 141 on the rotating motor 13 is replaced, and the reading head 142 on the fixed seat 171 is replaced. It should be noted that, in the present application, the encoder 14 is further provided with a visible indicator light, and the operating state of the encoder 14 is easy to obtain.

In an alternative embodiment, the holder 171 is square in shape and the housing 10 is square in shape. When the plane of the grating ruler 141 is parallel to the plane of the detection port 103, the light source emission point mirror surface of the reading head 142 can be ensured to be parallel to the plane of the grating ruler 141 by adjusting the coplanar installation of the fixing seat 171 and the plane of the detection port 103. The distance between the plane of the fixing base 171 and the plane of the grating scale 141 can be adjusted by adjusting the thickness of the fixing base 171 or by providing a spacer between the fixing rod 172 and the surface of the case 10, so that the distance between the light source emission point mirror surface of the reading head 142 and the plane of the grating scale 141 can be adjusted, and the linear movement position of the rotating motor 13 can be reflected by the reading head 142.

Optionally, as shown in fig. 3, the driving and controlling integrated linear-rotary motion mechanism further includes a spring 18, the spring 18 is disposed in the case 10, one end of the spring 18 is fixedly connected to the case 10, the other end of the spring 18 is fixedly connected to the mover structure 122, and the spring 18 is configured to prevent the mover structure 122 from colliding with the case 10.

Specifically, the spring 18 may be a mechanical spring or a magnetic spring.

When the rotary motor 13 linearly moves near the through hole 101, the rotary shaft 131 may generate a thrust.

When the mover structure 122 of the linear motor 12 moves along the gravity direction and the linear motor 12 is not powered on, the spring 18 exerts a pulling force on the mover structure 122, so as to prevent the mover structure 122 from colliding with the case 10.

The direction of the pulling force generated by the spring 18 on the mover structure 122 may be the same as or opposite to the direction of the pushing force generated by the rotating shaft 131.

In an alternative embodiment, when the spring 18 is a mechanical spring, a bolt is disposed on the casing 10, one end of the spring 18 is fixedly connected to the bolt, the other end of the spring 18 is fixedly connected to the mover structure 122, and the bolt and the through hole 101 are located on two sides of the mover structure 122. At this time, the direction of the pulling force generated by the spring 18 on the mover structure 122 is opposite to the direction of the pushing force generated by the rotating shaft 131.

Further, the spring 18 is a magnetic spring. One end of the spring 18 is fixedly connected to the case 10, and the other end of the spring 18 may be fixed in a screw hole formed in a side surface of the mover structure 122.

When the magnetic spring generates a pulling force on the mover structure 122, the pulling force of the magnetic spring is constant. So set up, in rotation axis 131 production thrust in-process, because magnetic spring's pulling force is invariable, easily realize accurate thrust control.

Optionally, as shown in fig. 2, the driving and controlling integrated linear-rotary motion mechanism further includes a flexible lead 19 and a circuit board 20, the circuit board 20 is disposed on the mover structure 122, the electric lines of the linear motor 12 and the rotary motor 13 are respectively connected to the circuit board 20, and the flexible lead 19 is respectively connected to the circuit board 20 and the driver 15. So configured, the driver 15 can control the linear motor 12 and the rotary motor 13 through the flexible wires 19 and the circuit board 20.

The flexible wires 19 are arranged in order in the box body 10, so that the occupied space of the box body 10 can be effectively reduced.

It should be noted that the driving and controlling integrated linear rotary motion mechanism of the present application integrates the linear motor 12, the rotary motor 13, the spring 18, the adsorption gas circuit related to the gas pipe 16, and the control circuit related to the driver 15, so as to realize linear and rotary motion, and has the advantages of high integration level, small volume, and light weight.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A driving and controlling integrated linear rotary motion mechanism is characterized by comprising a box body, and a guide rail, a linear motor, a rotary motor, an encoder and a driver which are arranged in the box body;

the linear motor comprises a stator structure and a rotor structure, the stator structure and the guide rail are fixed in the box body, and the rotor structure is arranged on the guide rail in a sliding manner;

the rotary motor is fixed on the rotor structure, a rotary shaft of the rotary motor can extend out of the box body, and the linear motor and the rotary motor are respectively connected with the driver;

the driver is used for controlling the rotor structure to move through the encoder so as to enable the rotary motor to move linearly; the driver is also used for controlling the rotation of the rotating shaft of the rotating motor so as to enable the rotating shaft of the rotating motor to rotate.

2. The drive-control integrated linear rotary motion mechanism according to claim 1, wherein a shaft sleeve is provided on a rotary shaft of the rotary motor, and the shaft sleeve is wrapped around the outer side of the rotary shaft.

3. The driving and controlling integrated linear rotary motion mechanism according to claim 2, further comprising an air tube, wherein the rotating shaft of the rotating motor is a hollow shaft, one end of the rotating shaft of the rotating motor is an air inlet end, the other end of the rotating shaft of the rotating motor is an air outlet end, the box body is provided with an air suction joint, one end of the air tube can be connected with the air outlet end, and the other end of the air tube can be connected with the air suction joint.

4. The drive-control integrated linear rotary motion mechanism according to claim 3, wherein an air outlet is provided on a side wall of the rotary shaft, an air vent is provided on a housing of the rotary motor, the air vent is communicated with the air outlet, one end of the air pipe can be connected with the air vent, and the other end of the air pipe can be connected with an air suction joint.

5. The drive-control integrated linear rotary motion mechanism according to claim 4, wherein two seal bearings are disposed between the shaft sleeve and the rotary shaft of the rotary electric machine, the two seal bearings are disposed at two ends of the shaft sleeve, the shaft sleeve is fixedly connected to the housing of the rotary electric machine, and the two seal bearings are used for sealing between the shaft sleeve and the rotary shaft of the rotary electric machine.

6. The driving and controlling integrated linear rotary motion mechanism according to claim 5, wherein the encoder includes a grating ruler and a reading head, the grating ruler is fixed on the housing of the rotary electric machine, the grating ruler extends along the moving direction of the mover structure, the housing is provided with a detection opening, the reading head is disposed at the detection opening, and the reading head is disposed opposite to the grating ruler.

7. The driving and controlling integrated linear-rotary motion mechanism according to any one of claims 3 to 6, wherein the air tube is a spiral air tube.

8. The driving and controlling integrated linear-rotary motion mechanism according to any one of claims 1-6, further comprising a spring, wherein the spring is disposed in the case, one end of the spring is fixedly connected to the case, the other end of the spring is fixedly connected to the mover structure, and the spring is used to prevent the mover structure from colliding with the case.

9. The drive and control integrated linear rotary motion mechanism according to claim 8, wherein the spring is a magnetic spring.

10. The driving and controlling integrated linear-rotary motion mechanism according to claim 8, further comprising flexible wires and a circuit board, wherein the circuit board is disposed on the mover structure, electrical wires of the linear motor and the rotary motor are respectively connected to the circuit board, and the flexible wires are respectively connected to the circuit board and the driver;

the driver comprises an electrical interface connected with an external power supply and a communication interface connected with external communication.

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